How do you properly instantiate VioManager?

[astro-friedel]

I work with a fork of this repo at https://github.com/ILLIXR/open_vins. In our code we initialize an instance of VioManagerOptions which includes camera_intrinsics and camera_extrinsics set with proper values. The code then follows as:

• We then feed this instance to the VioManager constructor, where it is copied (line 58 of ov_msckf/src/core/VioManager.cpp).
• In the next line print_and_load_estimator is called with no parameters (the YamlParser defaulting to nullptr).
• In line 117 of ov_msckf/src/core/VioManagerOptions.h print_and_load is called on the uninitialized init_options, which then calls print_and_load_state (line 58 of ov_init/src/init/InertialInitializerOptions.h).
• In this function, starting at line 323 of ov_init/src/init/InertialInitializerOptions.h, init_options is populated.
• But in this instance, there is not much done because the YamlParser is nullptr.
• At line 323 of ov_init/src/init/InertialInitializerOptions.h an error is thrown because num_cameras (default initialized to 1, and there is nowhere in the code to change it) does not match the size of camera_intrinsics and camera_extrinsics (both of which have length 0 due to the nullptr.

So is it possible to initialize VioManager? From me reading, the YamlParser will always be nullptr, and the code will fail because num_cameras is never changed.